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A Modular Approach of Decision-Making in the Context of Robot Navigation in Domestic Environments

14 pagesPublished: October 19, 2017

Abstract

Decision processes in Artificial Intelligence are often organized hierarchically. One example is robot navigation with a global path planner and a local executor. This paper examines whether a shift from optimizing the two typical modules in navigation towards a dynamic interaction of more, not necessarily hierarchically linked, modules leads to robust navigation behavior. We empirically evaluate different organizations of modules for navigation in a simulated household with a simulated PR2 robot.

Keyphrases: hierarchical abstraction, problem solving, robot navigation

In: Christoph Benzmüller, Christine Lisetti and Martin Theobald (editors). GCAI 2017. 3rd Global Conference on Artificial Intelligence, vol 50, pages 134--147

Links:
BibTeX entry
@inproceedings{GCAI2017:Modular_Approach_of_Decision_Making,
  author    = {Alexandra Kirsch},
  title     = {A Modular Approach of Decision-Making in the Context of Robot Navigation in Domestic Environments},
  booktitle = {GCAI 2017. 3rd Global Conference on Artificial Intelligence},
  editor    = {Christoph Benzm\textbackslash{}"uller and Christine Lisetti and Martin Theobald},
  series    = {EPiC Series in Computing},
  volume    = {50},
  pages     = {134--147},
  year      = {2017},
  publisher = {EasyChair},
  bibsource = {EasyChair, http://www.easychair.org},
  issn      = {2398-7340},
  url       = {https://easychair.org/publications/paper/RJDZ},
  doi       = {10.29007/hzlw}}
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